CN113336095A - Crane hoisting height measuring system and working method - Google Patents
Crane hoisting height measuring system and working method Download PDFInfo
- Publication number
- CN113336095A CN113336095A CN202110316962.8A CN202110316962A CN113336095A CN 113336095 A CN113336095 A CN 113336095A CN 202110316962 A CN202110316962 A CN 202110316962A CN 113336095 A CN113336095 A CN 113336095A
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- winch
- positioning
- vehicle
- antenna
- control room
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 19
- 239000000725 suspension Substances 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 7
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a heavy crane hoisting height measuring system and a working method, which relate to the technical field of jack equipment and comprise the following steps: a vehicle-mounted display screen is arranged in the vehicle control room; the arm tail of the suspension arm is connected with a vehicle control room; the winch comprises a main winch and an auxiliary winch, one end of the main winch is connected with the arm head of the suspension arm, and the other end of the main winch is connected with the auxiliary winch; the installation box is arranged in the vehicle control room, a built-in battery, a positioning system and a network system are arranged in the installation box, and the built-in battery is electrically connected with the positioning system and the network system respectively; the positioning system is in communication connection with the network system; the positioning system includes: the three positioning antennas are respectively arranged on the arm head of the suspension arm, the main winch and the auxiliary winch; the PKT base station is preset on a known coordinate point; each antenna is respectively connected with the network system. When the device is used, the position information is more accurate, and the precision and the reliability are better.
Description
Technical Field
The invention relates to the technical field of crane equipment, in particular to a system and a working method for measuring the hoisting height of a crane.
Background
The Chinese truck crane is born in the 60's of the last century, and through the development of nearly 50 years, the Chinese truck crane industry has been developed greatly at present. But the hoist height is not displayed on the crane, the hoist height cannot be judged, and the unmanned intelligent debugging and debugging function is great.
Disclosure of Invention
The invention aims to provide a system and a working method for measuring the hoisting height of a crane, which are used for solving the technical problem.
The technical scheme adopted by the invention is as follows:
a system for crane hoist height comprising: the vehicle control room is internally provided with a vehicle-mounted display screen;
the arm tail of the suspension arm is connected with the vehicle control room;
the winch comprises a main winch and an auxiliary winch, one end of the main winch is connected with the arm head of the suspension arm, and the other end of the main winch is connected with the auxiliary winch;
the installation box is arranged in the vehicle control room, a built-in battery, a positioning system and a network system are arranged in the installation box, and the built-in battery is electrically connected with the positioning system and the network system respectively; the positioning system is in communication connection with the network system;
the positioning system includes: the positioning antennas are respectively arranged on the arm head of the suspension arm, the main winch and the auxiliary winch; the PKT base station is preset on a known coordinate point;
the network system includes: a receiver and a processor, the receiver communicatively coupled to the processor, the receiver communicatively coupled to three of the positioning antennas;
vehicle-mounted display screen: the vehicle-mounted display screen is installed in the vehicle control room, electrically connected with the built-in battery and in communication connection with the processor.
As a further preference, the positioning system is connected to the network system via a 232 serial line.
Further preferably, the method further comprises: the network system is connected with the network antenna and is in communication connection with the PTK through the network antenna in a UDP communication mode.
More preferably, the internal battery is a 24V lithium battery.
As a further preference, the installation box further comprises a memory, and the memory is connected with the processor in a communication way.
A working method of a crane hoisting height measuring system comprises any one of the crane hoisting height measuring systems, and comprises the following steps:
step S1, the PTK base station is established, and a wireless network area is established by erecting the base station;
step S2, the positioning antenna receives the signal from the positioning satellite and the differential signal of the ground base station to obtain the antenna coordinate;
step S3, the positioning antenna transmits the antenna coordinate of the positioning antenna to the receiver;
step S4, the receiver receives the antenna coordinate, and the receiver calculates to obtain the three-dimensional point coordinate data of the winch in the three-dimensional space according to the antenna coordinate and the preset size of the winch;
step S5, the processor receives the position coordinate and the direction parameter of the winch processed by the three-dimensional point coordinate data of the winch in the three-dimensional space, and a graphical interface is obtained through processing;
and step S6, the vehicle-mounted display screen is used for displaying a graphical interface, and the graphical interface is used for indicating the height of the hoisted position.
The technical scheme has the following advantages or beneficial effects:
the invention provides a method for measuring the hoisting height of a crane based on an RTK positioning technology, which can perform three-dimensional space positioning on a crane tool based on a satellite and a ground reference station, measure the accurate hoisting height and further can be used in unmanned intelligent debugging.
According to the invention, the positioning information directly comes from the data of the positioning antenna, indirect operation is not required to be carried out through parameters such as the position of the vehicle, the length of the large arm, the elevation angle and the rotating angle, the position information is more accurate, and the precision and the reliability are better.
Drawings
Fig. 1 is a schematic structural diagram of the hoisting height device of the crane.
In the figure: 1. a body; 2. a support bar; 3. a vehicle control room; 4. a suspension arm; 5. hoisting; 6. a day positioning line; 7. and a base station.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and the like, which indicate orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Referring to fig. 1, the hoisting device 55 of the crane comprises a vehicle control room 3, and a vehicle-mounted display screen is arranged in the vehicle control room 3;
the arm tail of the suspension arm 4 is connected with the vehicle control room 3;
the winch 5 comprises a main winch 5 and an auxiliary winch 5, one end of the main winch 5 is connected with the arm head of the suspension arm 4, and the other end of the main winch 5 is connected with the auxiliary winch 5;
the installation box is arranged in the vehicle control room 3, a built-in battery, a positioning system and a network system are arranged in the installation box, and the built-in battery is electrically connected with the positioning system and the network system respectively; the positioning system is in communication connection with the network system;
the positioning system includes: the three positioning antennas are respectively arranged on the arm head of the suspension arm 4, the main winch 5 and the auxiliary winch 5; the PKT base station 7 is preset at a known coordinate point;
the network system includes: the receiver is in communication connection with the processor, and the receiver is in communication connection with the three positioning antennas;
vehicle-mounted display screen: the vehicle-mounted display screen is arranged in the vehicle control room 3, the vehicle-mounted display screen is electrically connected with the built-in battery, and the vehicle-mounted display screen is in communication connection with the processor.
In this embodiment, the invention provides a method for measuring the height of a crane hoist 55 based on an RTK positioning technology, which can perform three-dimensional space positioning on a crane tool based on a satellite and a ground reference station, and measure the accurate height of the hoist 55, so that unmanned intelligent debugging can be utilized.
According to the invention, the positioning information directly comes from the data of the positioning antenna 6, indirect operation is not required to be carried out through parameters such as the position of the vehicle, the length of the large arm, the elevation angle and the rotating angle, the position information is more accurate, and the precision and the reliability are better.
Further, as a preferred embodiment, the positioning system is connected to the network system via a 232 serial port line.
Further, as a preferred embodiment, the method further includes: and the network antenna is connected with a network system, and the network system is in communication connection with the base station 7 in a UDP communication mode through the network antenna.
Further, as a preferred embodiment, the built-in battery is a 24V lithium battery.
Further, as a preferred embodiment, the installation box further comprises a memory, and the memory is in communication connection with the processor.
A working method of a height measuring system of a crane hoist 5 comprises the following steps:
step S1, establishing a PTK base station 7, and establishing a wireless network area by erecting the base station 7;
step S2, the positioning antenna receives the signal from the positioning satellite and the differential signal of the ground base station 7 to obtain the antenna coordinate;
step S3, the positioning antenna transmits the antenna coordinate of the positioning antenna to the receiver;
step S4, the receiver receives the antenna coordinate, and the receiver calculates the three-dimensional point coordinate data of the winch 5 in the three-dimensional space according to the antenna coordinate and the preset size of the winch 5;
and step S5, the processor receives the position coordinate and the direction parameter of the winch 5 processed by the three-dimensional point coordinate data of the winch 5 in the three-dimensional space, and processes to obtain a graphical interface.
And step S6, the vehicle-mounted display screen is used for displaying a graphical interface, and the graphical interface is used for indicating the position height of the winch 5.
The crane comprises a machine body 1, a support rod 2, a vehicle control chamber 3 and a suspension arm 4, wherein the support rod 1 is installed at the bottom of the machine body 1, the vehicle control chamber 3 and the suspension arm 4 are installed at the top of the machine body 1, and the vehicle control chamber 3 is located on one side of the suspension arm 4.
In actual use, the hardware used in this measurement method is: the system comprises a positioning antenna, a network antenna, a positioning system, a network system, a V lithium battery, an installation box, a base station 7, a vehicle-mounted display screen and the like.
And an IP of the positioning system is configured, the positioning system is connected with the network system by a serial port line to realize data interaction, the network system transmits data to the RTK base station 7 in a UDP mode through a network antenna, and the vehicle-mounted display screen receives the data transmitted by the RTK base station 7 and displays the height of the winch 5 through algorithm processing.
Because the winch 5 works in a motion state, a V lithium battery is used for supplying power to the positioning system and the network system in the installation box.
The positioning of the height of the automobile crane hoist 5 realized in the mode is very accurate and reliable.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. A crane hoist height measurement system, comprising:
the vehicle control room (3), a vehicle-mounted display screen is arranged in the vehicle control room (3);
the tail of the suspension arm is connected with a vehicle control room (3);
the winch comprises a main winch and an auxiliary winch, one end of the main winch is connected with the arm head of the suspension arm, and the other end of the main winch is connected with the auxiliary winch;
the installation box is arranged in the vehicle control room (3), a built-in battery, a positioning system and a network system are arranged in the installation box, and the built-in battery is electrically connected with the positioning system and the network system respectively; the positioning system is in communication connection with the network system;
the positioning system includes: the three positioning antennas are respectively arranged on the arm head of the suspension arm, the main winch and the auxiliary winch; the PKT base station is preset on a known coordinate point;
the network system includes: the receiver is in communication connection with the processor, and the receiver is in communication connection with the three positioning antennas;
vehicle-mounted display screen: the vehicle-mounted display screen is installed in the vehicle control room (3), the vehicle-mounted display screen is electrically connected with the built-in battery, and the vehicle-mounted display screen is in communication connection with the processor.
2. The crane hoist height measurement system of claim 1, wherein the positioning system is connected to the network system by 232 serial lines.
3. The crane hoist height measurement system of claim 1, further comprising: and the network system is in communication connection with the base station through the network antenna in a UDP communication mode.
4. The crane hoist height measurement system of claim 1, wherein the internal battery is a 24V lithium battery.
5. The crane hoist height measurement system of claim 1, further comprising a memory in the mounting box, the memory communicatively coupled to the processor.
6. A method of operating a crane hoist height measurement system comprising the crane hoist height measurement system of any one of claims 1 to 5, comprising the steps of:
step S1, a PTK base station is established, and a wireless network area is established by erecting the base station;
step S2, the positioning antenna receives the signal from the positioning satellite and the differential signal of the ground base station to obtain the antenna coordinate;
step S3, the positioning antenna transmits the antenna coordinate of the positioning antenna to the receiver;
step S4, the receiver receives the antenna coordinate, and the receiver calculates the three-dimensional coordinate data of the winch in the three-dimensional space according to the antenna coordinate and the preset size of the winch;
step S5, the processor receives the position coordinate and the direction parameter of the winch processed by the three-dimensional point coordinate data of the winch in the three-dimensional space, and a graphical interface is obtained through processing;
and step S6, the vehicle-mounted display screen is used for displaying a graphical interface, and the graphical interface is used for indicating the height of the hoisted position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110316962.8A CN113336095A (en) | 2021-03-23 | 2021-03-23 | Crane hoisting height measuring system and working method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110316962.8A CN113336095A (en) | 2021-03-23 | 2021-03-23 | Crane hoisting height measuring system and working method |
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| Publication Number | Publication Date |
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| CN113336095A true CN113336095A (en) | 2021-09-03 |
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| CN202110316962.8A Pending CN113336095A (en) | 2021-03-23 | 2021-03-23 | Crane hoisting height measuring system and working method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114485530A (en) * | 2021-10-29 | 2022-05-13 | 许继时代技术有限公司 | Device and method for measuring attitude of insulating bucket arm of bucket arm vehicle based on real-time dynamic RTK |
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| CN107720554A (en) * | 2017-11-13 | 2018-02-23 | 长沙海川自动化设备有限公司 | Face upward jib crane and its monitoring method, monitoring device and storage medium |
| CN108217460A (en) * | 2018-01-12 | 2018-06-29 | 湖南科技大学 | A kind of crane load space pivot angle real-time detecting system and method |
| CN111039179A (en) * | 2019-12-26 | 2020-04-21 | 上海宏英智能科技有限公司 | Detection system for crane boom |
| CN111392599A (en) * | 2020-03-05 | 2020-07-10 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
-
2021
- 2021-03-23 CN CN202110316962.8A patent/CN113336095A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| CN102471040A (en) * | 2010-02-01 | 2012-05-23 | 天宝导航有限公司 | Lifting device efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance |
| US20140266875A1 (en) * | 2014-02-10 | 2014-09-18 | Trimble Navigation Limited | Crane boom pointing angle determination |
| CN107235419A (en) * | 2017-07-11 | 2017-10-10 | 长沙海川自动化设备有限公司 | Safety monitoring system for tower crane and the derrick crane with it |
| CN107720554A (en) * | 2017-11-13 | 2018-02-23 | 长沙海川自动化设备有限公司 | Face upward jib crane and its monitoring method, monitoring device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114485530A (en) * | 2021-10-29 | 2022-05-13 | 许继时代技术有限公司 | Device and method for measuring attitude of insulating bucket arm of bucket arm vehicle based on real-time dynamic RTK |
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Application publication date: 20210903 |